[1]朱 煜,张得礼,王 珉.基于单拉线编码器测量系统的几何标定及精度分析[J].机械与电子,2018,(02):66-72.
　ZHU Yu,ZHANG Deli,WANG Min.Geometric Calibration and Accuracy Analysis Based on Single Draw-Wire Encoder[J].Machinery & Electronics,2018,(02):66-72.
点击复制

基于单拉线编码器测量系统的几何标定及精度分析
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年02期
页码:
66-72
栏目:
自动控制与检测
出版日期:
2018-02-24

文章信息/Info

Title:
Geometric Calibration and Accuracy Analysis Based on Single Draw-Wire Encoder
文章编号:
1001-2257(2018)02-0066-07
作者:
朱 煜; 张得礼; 王 珉
(南京航空航天大学机电学院,江苏 南京 210016)
Author(s):
ZHU Yu; ZHANG Deli; WANG Min
(Nanjing University of Aeronautics and Astronautics, College of Mechanical and Electrical Engineering, Nanjing 210016,China)
关键词:
测量系统;  几何误差;  标定;  拉线编码器;  最小二乘法
Keywords:
measurement system;  geometric error;  calibration;  draw-wire encoder;  least square method
分类号:
TH69
文献标志码:
A
摘要:
提出一种基于单拉线编码器测量系统的几何误差标定方法,通过在测量系统引入被测点位姿参数建立位姿求解模型,基于闭环矢量链建立测量系统误差辨识模型,采用最小二乘法对几何误差参数进行辨识。验证实例表明,标定后测量系统中几何参数最大绝对误差只有1×10-8 μm,从而证明标定算法的有效性与高精度。进一步分析测量系统中动滑轮圆周度和转轴角度误差,拉线弹性变形,拉线编码器误差对测量系统精度的影响。分析结果表明,当拉线编码器的测量误差为0.0046 mm,动滑轮的转轴误差为0.1°时,最优标定点数目为35个,测量系统的测量误差最大为0.037 mm。
Abstract:
This paper proposes a geometric error calibration method based on single draw-wire encoder measurement system. By introducing the pose parameters of measured point to the measurement system, pose solution model was built. Then, error identification model was established based on closed-loop vector chain. Besides, least square method was used to identify the error parameter. The testing example verifies the validity and high precision of the calibration method as the maximum absolute error of geometric parameter of the measurement system was only 1×10-8 μm after calibration. Further analysis was carried out to find influences on the precision of measurement system by different kinds of error, such as circular degree of pulley, rotation error, elastic deformation, error of draw-wire encoder. The analysis result indicates that when the error of draw wire encoder is 0.004 6 mm, and the rotation error of the pulley is 0.1°, the optimum number of calibration pose is 35, and the maximum measuring error of the system is 0.037 mm.

参考文献/References:

[1] 梁晋,尤威,王晓光,等. 三维复杂尺寸检测的研究与应用[J]. 中国工程机械学报,2017,15(1):67-71.
[2] 黄风山,刘恩福,方忆湘,等. 基于智能三坐标测量机的零件位姿单目立体视觉识别[J]. 光学精密工程,2013,21(5):1326-1332.
[3] 黄风山,钱惠芬. 三坐标测量机驱动的摄像机标定技术[J]. 光学精密工程,2010,18(4):952-957.
[4] 秦玉红. 三坐标测量机柔性化测量系统关键技术研究[D]. 厦门:厦门大学,2009.
[5] YAN B, WANG J, LU N, et al. Application of laser tracker used in the measuring and the adjusting of the workbench for SAR antenna[C]//Ninth International Symposium on Laser Metrology. International Society for Optics and Photonics, 2008: 71552M.
[6] 张春富,张军,唐文彦,等. 激光跟踪仪在大尺寸工件几何参数测量中的应用[J]. 工具技术,2002,36(5):26-28.
[7] 王彦喜,闵俊,刘刚,等. 激光跟踪仪在飞机型架装配中的应用[J]. 航空制造技术,2010,(19):92-94,97.
[8] NUBIOLA A, BONEV I. Absolute calibration of an ABB IRB 1600 robot using a laser tracker[J]. Robotics and Computer-Integrated Manufacturing,2013,29(1): 236-245.
[9] 罗振军,孙思嘉,梅江平,等. 基于拉线位移传感器的机器人标定应用研究[J]. 航空制造技术,2017(9):43-49.
[10] 龚成. 动态空间位置测量系统的设计与开发[D]. 南京:南京航空航天大学,2014.
[11] 龚成,陈文亮,张得礼,等. 基于拉线位移传感器的动态空间位置测量方法[J]. 机械设计与制造工程,2014(3):57-61.
[12] 洪银芳,鲍晟,高慧慧,等. 拉线式机器人末端定位精度测量系统[J]. 工业控制计算机,2016,29(4):40-41.
[13] 成世良. 基于拉线传感器的工业机器人标定系统设计[D]. 哈尔滨:哈尔滨工业大学,2014.
[14] 肖永强,游玮,孔民秀,等. 基于拉线传感器的工业机器人标定系统研制[J]. 机器人技术与应用,2015(6):26-30.

相似文献/References:

[1]代湘蓉,吴才远. 基于GPS同步信号源的电能相量测量系统研究[J].机械与电子,2019,(03):22.
　DAI Xiangrong,WU Caiyuan. Research on Phasor Measurement System of Electric Energy Based on GPS Synchronous Signal Source[J].Machinery & Electronics,2019,(02):22.
[2]杨化林,马智斌,陈 龙,等.并联机器人末端轨迹测量系统设计[J].机械与电子,2020,(03):72.
　,,et al.Design of End Track Measurement System ofParallelRobot [J].Machinery & Electronics,2020,(02):72.
[3]黄维邵,吴金波.大型圆柱壳体装配平台测量系统的误差标定方法[J].机械与电子,2021,(11):40.
　HUANG Weishao,WU Jinbo.Error Calibration of Measuring System for Large Cylindrical Shell Assembly Platform[J].Machinery & Electronics,2021,(02):40.

备注/Memo

备注/Memo:
收稿日期:2017-11-13
作者简介:朱 煜(1994-),男,安徽宿州人,硕士研究生,研究方向为机器人标定与测量、离线编程; 张得礼(1973-),男,安徽马鞍山人,副教授。研究方向为运动控制、数控技术、飞机自动化装配技术。
更新日期/Last Update: 2018-02-24